silentstep3.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
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** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
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** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
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#ifndef SILENTSTEP3_H
#define SILENTSTEP3_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_spi_master.h"
#include "spi_specifics.h"
 
#define SILENTSTEP3_REG_DRVCTRL                 0x00
#define SILENTSTEP3_REG_CHOPCONF                0x04
#define SILENTSTEP3_REG_SMARTEN                 0x05
#define SILENTSTEP3_REG_SGCSCONF                0x06
#define SILENTSTEP3_REG_DRVCONF                 0x07
 
 // silentstep3_reg
 
#define SILENTSTEP3_DRVCTRL_1_PHA_MASK          0x20000ul
#define SILENTSTEP3_DRVCTRL_1_CA_MASK           0x1FE00ul
#define SILENTSTEP3_DRVCTRL_1_PHB_MASK          0x00100ul
#define SILENTSTEP3_DRVCTRL_1_CB_MASK           0x000FFul
 
#define SILENTSTEP3_DRVCTRL_0_INTPOL_MASK       0x00200ul
#define SILENTSTEP3_DRVCTRL_0_DEDGE_MASK        0x00100ul
#define SILENTSTEP3_DRVCTRL_0_MRES_256          0x00000ul
#define SILENTSTEP3_DRVCTRL_0_MRES_128          0x00001ul
#define SILENTSTEP3_DRVCTRL_0_MRES_64           0x00002ul
#define SILENTSTEP3_DRVCTRL_0_MRES_32           0x00003ul
#define SILENTSTEP3_DRVCTRL_0_MRES_16           0x00004ul
#define SILENTSTEP3_DRVCTRL_0_MRES_8            0x00005ul
#define SILENTSTEP3_DRVCTRL_0_MRES_4            0x00006ul
#define SILENTSTEP3_DRVCTRL_0_MRES_2            0x00007ul
#define SILENTSTEP3_DRVCTRL_0_MRES_1            0x00008ul
#define SILENTSTEP3_DRVCTRL_0_MRES_MASK         0x0000Ful
 
#define SILENTSTEP3_CHOPCONF_TBL_16             0x00000ul
#define SILENTSTEP3_CHOPCONF_TBL_24             0x08000ul
#define SILENTSTEP3_CHOPCONF_TBL_32             0x10000ul
#define SILENTSTEP3_CHOPCONF_TBL_54             0x18000ul
#define SILENTSTEP3_CHOPCONF_TBL_MASK           0x18000ul
#define SILENTSTEP3_CHOPCONF_CHM_STANDARD       0x00000ul
#define SILENTSTEP3_CHOPCONF_CHM_FAST           0x04000ul
#define SILENTSTEP3_CHOPCONF_CHM_MASK           0x04000ul
#define SILENTSTEP3_CHOPCONF_RNDTF_DISABLE      0x00000ul
#define SILENTSTEP3_CHOPCONF_RNDTF_ENABLE       0x02000ul
#define SILENTSTEP3_CHOPCONF_RNDTF_MASK         0x02000ul
#define SILENTSTEP3_CHOPCONF_HDEC_16            0x00000ul
#define SILENTSTEP3_CHOPCONF_HDEC_32            0x00800ul
#define SILENTSTEP3_CHOPCONF_HDEC_48            0x01000ul
#define SILENTSTEP3_CHOPCONF_HDEC_64            0x01800ul
#define SILENTSTEP3_CHOPCONF_HDEC_MASK          0x01800ul
#define SILENTSTEP3_CHOPCONF_HEND_0             0x00180ul
#define SILENTSTEP3_CHOPCONF_HEND_MASK          0x00780ul
#define SILENTSTEP3_CHOPCONF_HSTRT_4            0x00030ul
#define SILENTSTEP3_CHOPCONF_HSTRT_MASK         0x00070ul
#define SILENTSTEP3_CHOPCONF_TOFF_4             0x00004ul
#define SILENTSTEP3_CHOPCONF_TOFF_MASK          0x0000Ful
 
#define SILENTSTEP3_SMARTEN_SEIMIN_HALF_CS      0x00000ul
#define SILENTSTEP3_SMARTEN_SEIMIN_QUARTER_CS   0x08000ul
#define SILENTSTEP3_SMARTEN_SEIMIN_MASK         0x08000ul
#define SILENTSTEP3_SMARTEN_SEDN_32             0x00000ul
#define SILENTSTEP3_SMARTEN_SEDN_8              0x02000ul
#define SILENTSTEP3_SMARTEN_SEDN_2              0x04000ul
#define SILENTSTEP3_SMARTEN_SEDN_1              0x06000ul
#define SILENTSTEP3_SMARTEN_SEDN_MASK           0x06000ul
#define SILENTSTEP3_SMARTEN_SEMAX_2             0x00200ul
#define SILENTSTEP3_SMARTEN_SEMAX_MASK          0x00F00ul
#define SILENTSTEP3_SMARTEN_SEUP_1              0x00000ul
#define SILENTSTEP3_SMARTEN_SEUP_2              0x00020ul
#define SILENTSTEP3_SMARTEN_SEUP_4              0x00040ul
#define SILENTSTEP3_SMARTEN_SEUP_8              0x00060ul
#define SILENTSTEP3_SMARTEN_SEUP_MASK           0x00060ul
#define SILENTSTEP3_SMARTEN_SEMIN_2             0x00002ul
#define SILENTSTEP3_SMARTEN_SEMIN_MASK          0x0000Ful
 
#define SILENTSTEP3_SGCSCONF_SFILT_STANDARD     0x00000ul
#define SILENTSTEP3_SGCSCONF_SFILT_FILTERED     0x10000ul
#define SILENTSTEP3_SGCSCONF_SFILT_MASK         0x10000ul
#define SILENTSTEP3_SGCSCONF_SGT_0              0x00000ul
#define SILENTSTEP3_SGCSCONF_SGT_MASK           0x07F00ul
#define SILENTSTEP3_SGCSCONF_CS_2_OF_32         0x00002ul
#define SILENTSTEP3_SGCSCONF_CS_MASK            0x0001Ful
 
#define SILENTSTEP3_DRVCONF_TST_MASK            0x10000ul
#define SILENTSTEP3_DRVCONF_SLPH_MIN            0x00000ul
#define SILENTSTEP3_DRVCONF_SLPH_MIN_TEMP       0x04000ul
#define SILENTSTEP3_DRVCONF_SLPH_MED_TEMP       0x08000ul
#define SILENTSTEP3_DRVCONF_SLPH_MAX            0x0C000ul
#define SILENTSTEP3_DRVCONF_SLPH_MASK           0x0C000ul
#define SILENTSTEP3_DRVCONF_SLPL_MIN            0x00000ul
#define SILENTSTEP3_DRVCONF_SLPL_MIN_TEMP       0x01000ul
#define SILENTSTEP3_DRVCONF_SLPL_MED_TEMP       0x02000ul
#define SILENTSTEP3_DRVCONF_SLPL_MAX            0x03000ul
#define SILENTSTEP3_DRVCONF_SLPL_MASK           0x03000ul
#define SILENTSTEP3_DRVCONF_DISS2G_ENABLE       0x00000ul
#define SILENTSTEP3_DRVCONF_DISS2G_DISABLE      0x00400ul
#define SILENTSTEP3_DRVCONF_DISS2G_MASK         0x00400ul
#define SILENTSTEP3_DRVCONF_TS2G_3_2US          0x00000ul
#define SILENTSTEP3_DRVCONF_TS2G_1_6US          0x00100ul
#define SILENTSTEP3_DRVCONF_TS2G_1_2US          0x00200ul
#define SILENTSTEP3_DRVCONF_TS2G_0_8US          0x00300ul
#define SILENTSTEP3_DRVCONF_TS2G_MASK           0x00300ul
#define SILENTSTEP3_DRVCONF_SDOFF_0             0x00000ul
#define SILENTSTEP3_DRVCONF_SDOFF_1             0x00080ul
#define SILENTSTEP3_DRVCONF_SDOFF_MASK          0x00080ul
#define SILENTSTEP3_DRVCONF_VSENSE_305MV        0x00000ul
#define SILENTSTEP3_DRVCONF_VSENSE_165MV        0x00040ul
#define SILENTSTEP3_DRVCONF_VSENSE_MASK         0x00040ul
#define SILENTSTEP3_DRVCONF_RDSEL_MSTEP         0x00000ul
#define SILENTSTEP3_DRVCONF_RDSEL_SG_LEVEL      0x00010ul
#define SILENTSTEP3_DRVCONF_RDSEL_SG_CS_LEVEL   0x00020ul
#define SILENTSTEP3_DRVCONF_RDSEL_MASK          0x00030ul
 
#define SILENTSTEP3_PIN_STATE_LOW               0
#define SILENTSTEP3_PIN_STATE_HIGH              1
 
#define SILENTSTEP3_DIR_CCW                     0
#define SILENTSTEP3_DIR_CW                      1
 
#define SILENTSTEP3_MODE_FULL_STEP              8
#define SILENTSTEP3_MODE_HALF_STEP              7
#define SILENTSTEP3_MODE_QUARTER_STEP           6
#define SILENTSTEP3_MODE_1_OVER_8_STEP          5
#define SILENTSTEP3_MODE_1_OVER_16_STEP         4
#define SILENTSTEP3_MODE_1_OVER_32_STEP         3
#define SILENTSTEP3_MODE_1_OVER_64_STEP         2
#define SILENTSTEP3_MODE_1_OVER_128_STEP        1
#define SILENTSTEP3_MODE_1_OVER_256_STEP        0
 
#define SILENTSTEP3_SPEED_VERY_SLOW             0
#define SILENTSTEP3_SPEED_SLOW                  1
#define SILENTSTEP3_SPEED_MEDIUM                2
#define SILENTSTEP3_SPEED_FAST                  3
#define SILENTSTEP3_SPEED_VERY_FAST             4 
 
#define SILENTSTEP3_SET_DATA_SAMPLE_EDGE        SET_SPI_DATA_SAMPLE_EDGE
#define SILENTSTEP3_SET_DATA_SAMPLE_MIDDLE      SET_SPI_DATA_SAMPLE_MIDDLE
 
 // silentstep3_set
 
#define SILENTSTEP3_MAP_MIKROBUS( cfg, mikrobus ) \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK ); \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS ); \
    cfg.en   = MIKROBUS( mikrobus, MIKROBUS_AN ); \
    cfg.sg   = MIKROBUS( mikrobus, MIKROBUS_RST ); \
    cfg.step = MIKROBUS( mikrobus, MIKROBUS_PWM ); \
    cfg.dir  = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // silentstep3_map
 // silentstep3
 
typedef struct
{
    // Output pins
    digital_out_t en;           
    digital_out_t step;         
    digital_out_t dir;          
    // Input pins
    digital_in_t sg;            
    // Modules
    spi_master_t spi;           
    pin_name_t   chip_select;   
    uint32_t drvctrl;           
    uint32_t chopconf;          
    uint32_t smarten;           
    uint32_t sgcsconf;          
    uint32_t drvconf;           
} silentstep3_t;
 
typedef struct
{
    // Communication gpio pins
    pin_name_t miso;            
    pin_name_t mosi;            
    pin_name_t sck;             
    pin_name_t cs;              
    // Additional gpio pins
    pin_name_t en;              
    pin_name_t sg;              
    pin_name_t step;            
    pin_name_t dir;             
    // static variable
    uint32_t                          spi_speed;    
    spi_master_mode_t                 spi_mode;     
    spi_master_chip_select_polarity_t cs_polarity;  
} silentstep3_cfg_t;
 
typedef enum
{
    SILENTSTEP3_OK = 0,
    SILENTSTEP3_ERROR = -1
 
} silentstep3_return_value_t;
 
void silentstep3_cfg_setup ( silentstep3_cfg_t *cfg );
 
err_t silentstep3_init ( silentstep3_t *ctx, silentstep3_cfg_t *cfg );
 
err_t silentstep3_default_cfg ( silentstep3_t *ctx );
 
err_t silentstep3_write_register ( silentstep3_t *ctx, uint8_t reg, uint32_t data_in, uint32_t *data_out );
 
err_t silentstep3_set_step_mode ( silentstep3_t *ctx, uint8_t mode );
 
void silentstep3_enable_device ( silentstep3_t *ctx );
 
void silentstep3_disable_device ( silentstep3_t *ctx );
 
void silentstep3_set_direction ( silentstep3_t *ctx, uint8_t dir );
 
void silentstep3_switch_direction ( silentstep3_t *ctx );
 
void silentstep3_set_step_pin ( silentstep3_t *ctx, uint8_t state );
 
uint8_t silentstep3_get_sg_pin ( silentstep3_t *ctx );
 
void silentstep3_drive_motor ( silentstep3_t *ctx, uint32_t steps, uint8_t speed );
 
#ifdef __cplusplus
}
#endif
#endif // SILENTSTEP3_H
 
 // silentstep3
 
// ------------------------------------------------------------------------ END